Abstract-This paper relates 5 observability indexes for robot calibration to the "alphabet optimalities" from the experimental design literature. These 5 observability indexes are shown to be the upper and lower bounds of one another. All observability indexes are proved to be equivalent when the design is optimal after a perfect column scaling. It is shown that when the goal is to minimize the variance of the parameters, D-optimality is the best criterion. When the goal is to minimize the uncertainty of the end-effector position, E-optimality is the best criterion. It is proved that G-optimality is equivalent to E-optimality for exact design.
DNS is one of internet infrastructure, but there also exist a lot of security vulnerabilities in it. The DNSSEC drafted by IETF is replacing the DNS for enhancing the security. However, the characteristics of DNSSEC have led to failure of the old monitoring system partly. This paper based on study of the DNSSEC protocol implementation and deployment proposes a kind of constructing plan about domain name redirecting, recursive domain name server record and national DLV trust chain. Then we establish an effective monitoring system. Finally, the feasibility of this plan has been verified in a simulated environment.
Many robot applications depend on solving the Complete Coverage Path Problem (CCPP). Specifically, robot vacuum cleaners have seen increased use in recent years, and some models offer room mapping capability using sensors such as LiDAR. With the addition of room mapping, applied robotic cleaning has begun to transition from random walk and heuristic path planning into an environment-aware approach. In this paper, a novel solution for pathfinding and navigation of indoor robot cleaners is proposed. The proposed solution plans a path from a priori cellular decomposition of the work environment. The planned path achieves complete coverage on the map and reduces duplicate coverage. The solution is implemented inside the ROS framework, and is validated with Gazebo simulation. Metrics to evaluate the performance of the proposed algorithm seek to evaluate the efficiency by speed, duplicate coverage and distance travelled.
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